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Restructuring Expenses - Narrative (Details) - USD ($)
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Restructuring Cost and Reserve [Line Items]          
Restructuring expenses $ 721,000 $ 0 $ 6,035,000 $ 3,527,000  
Q1 2022 Plan          
Restructuring Cost and Reserve [Line Items]          
Restructuring expenses       $ 3,500,000  
Unpaid balance related to restructuring plan 0   0    
Q4 2022/Q1 2023 Plan          
Restructuring Cost and Reserve [Line Items]          
Restructuring expenses 700,000   6,000,000    
Restructuring and related cost, cost incurred to date 23,500,000   23,500,000    
Unpaid balance related to restructuring plan $ 2,800,000   $ 2,800,000   $ 18,200,000